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<div class="title">people_detector.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * @author: Koen Buys</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef PCL_GPU_PEOPLE_PERSON_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define PCL_GPU_PEOPLE_PERSON_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/console/print.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/containers/device_array.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/people/label_common.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/people/tree.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/people/person_attribs.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">//#include &lt;opencv2/core/core.hpp&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/people/bodyparts_detector.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/people/face_detector.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/people/organized_plane_detector.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/people/probability_processor.h&gt;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">namespace </span>gpu</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">namespace </span>people</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="comment">/*</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">      struct OtherDetector</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="comment">      {</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="comment">          typedef boost::shared_ptr&lt;OtherDetector&gt; Ptr;</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="comment">      };</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="comment">      */</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html">   69</a></span>&#160;      <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html">PeopleDetector</a></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          <span class="keyword">typedef</span> boost::shared_ptr&lt;PeopleDetector&gt; Ptr;                              </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a>               <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointTC</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;          <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a>                   <a class="code" href="structpcl_1_1_point_x_y_z.html">PointT</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;unsigned short&gt;</a>   <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;          <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;pcl::RGB&gt;</a>         <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Image</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          <span class="comment">// ALL THE DETECTOR OBJECTS</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          RDFBodyPartsDetector::Ptr     rdf_detector_;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          OrganizedPlaneDetector::Ptr   org_plane_detector_;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;          FaceDetector::Ptr             face_detector_;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          <span class="comment">//OtherDetector::Ptr          other_detector_;</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          <span class="comment">// ALL THE OTHER PEOPLE STUFF</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          PersonAttribs::Ptr            person_attribs_;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;          ProbabilityProcessor::Ptr     probability_processor_;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#ae514fc69bdc44df8a81a8bb5770f10e8">   90</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#ae514fc69bdc44df8a81a8bb5770f10e8">PeopleDetector</a> ();</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#ae6db8fc5b03dae73d9173406aacfa4cb">   93</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#ae6db8fc5b03dae73d9173406aacfa4cb">~PeopleDetector</a> () {}                   </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          <span class="keywordtype">void</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#adee5018e31e8f4a70631fb21fa66a68c">   97</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#adee5018e31e8f4a70631fb21fa66a68c">setIntrinsics</a> (<span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy, <span class="keywordtype">float</span> cx = -1, <span class="keywordtype">float</span> cy = -1);                    </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a3602edef0766a5c3917de1d06acfe53b">  101</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a3602edef0766a5c3917de1d06acfe53b">process</a> (<span class="keyword">const</span> PointCloud&lt;PointTC&gt;::ConstPtr &amp;cloud);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;          processProb (<span class="keyword">const</span> PointCloud&lt;PointTC&gt;::ConstPtr &amp;cloud);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          process (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Image</a>&amp; rgba);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;         </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a1cb99105cd632e5f362c6d099c2f102e">  111</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a1cb99105cd632e5f362c6d099c2f102e">setDeltaHueTolerance</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> delta_hue_tolerance)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            delta_hue_tolerance_ = delta_hue_tolerance;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a94f6aa37e7f45798308d2616aadbe3cb">  118</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a94f6aa37e7f45798308d2616aadbe3cb">getDeltaHueTolerance</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="keyword">          </span>{</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            <span class="keywordflow">return</span> (delta_hue_tolerance_);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;              </div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a37eea6e92fd092f391bc0d3b3dbd59b4">  124</a></span>&#160;          <span class="keyword">inline</span> <span class="keyword">const</span> std::string <a class="code" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a37eea6e92fd092f391bc0d3b3dbd59b4">getClassName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="stringliteral">&quot;PeopleDetector&quot;</span>; }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;unsigned char&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Labels</a>;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;unsigned char&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Mask</a>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a> Hue;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a12313d83c38f425860ac22f64265370b">  131</a></span>&#160;          <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a12313d83c38f425860ac22f64265370b">first_iteration_</a>;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          <span class="keywordtype">float</span> fx_, fy_, cx_, cy_;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>  delta_hue_tolerance_;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                   </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;unsigned char&gt;</a>  kernelRect5x5_;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointT&gt;</a>          cloud_host_;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointTC&gt;</a>         cloud_host_color_;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;float&gt;</a>           hue_host_;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;unsigned short&gt;</a>  depth_host_;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;          <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;unsigned char&gt;</a>   flowermat_host_;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                    </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;PointT&gt;</a>       cloud_device_;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Hue</a>                         hue_device_;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>                       depth_device1_;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>                       depth_device2_;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;          </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Mask</a>                        fg_mask_;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Mask</a>                        fg_mask_grown_;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          process ();</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          <span class="keywordtype">int</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#ac4561bd45bb9ed126ab7643787ec656a">  160</a></span>&#160;          <a class="code" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#ac4561bd45bb9ed126ab7643787ec656a">processProb</a> ();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          allocate_buffers (<span class="keywordtype">int</span> rows = 480, <span class="keywordtype">int</span> cols = 640);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          shs5 (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *mask);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#ac114d05abfc90eb30f8ced6782fab64f">  169</a></span>&#160;          <span class="keyword">friend</span> <span class="keyword">class </span>PeoplePCDApp;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      };</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;}</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_GPU_PEOPLE_PERSON_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array2_d_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D&lt; unsigned short &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray&lt; unsigned char &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_people_detector_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_people_detector.html">pcl::gpu::people::PeopleDetector</a></div><div class="ttdef"><b>Definition:</b> people_detector.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_people_detector_html_a12313d83c38f425860ac22f64265370b"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a12313d83c38f425860ac22f64265370b">pcl::gpu::people::PeopleDetector::first_iteration_</a></div><div class="ttdeci">bool first_iteration_</div><div class="ttdoc">indicates first time callback (allows for tracking features to start from second frame)</div><div class="ttdef"><b>Definition:</b> people_detector.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_people_detector_html_a1cb99105cd632e5f362c6d099c2f102e"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a1cb99105cd632e5f362c6d099c2f102e">pcl::gpu::people::PeopleDetector::setDeltaHueTolerance</a></div><div class="ttdeci">void setDeltaHueTolerance(unsigned int delta_hue_tolerance)</div><div class="ttdoc">Set the tolerance for the delta on the Hue in Seeded Hue Segmentation step</div><div class="ttdef"><b>Definition:</b> people_detector.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_people_detector_html_a3602edef0766a5c3917de1d06acfe53b"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a3602edef0766a5c3917de1d06acfe53b">pcl::gpu::people::PeopleDetector::process</a></div><div class="ttdeci">int process(const PointCloud&lt; PointTC &gt;::ConstPtr &amp;cloud)</div><div class="ttdoc">Possible will be removed because of extra overheads</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_people_detector_html_a37eea6e92fd092f391bc0d3b3dbd59b4"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a37eea6e92fd092f391bc0d3b3dbd59b4">pcl::gpu::people::PeopleDetector::getClassName</a></div><div class="ttdeci">const std::string getClassName() const</div><div class="ttdoc">Class getName method.</div><div class="ttdef"><b>Definition:</b> people_detector.h:124</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_people_detector_html_a94f6aa37e7f45798308d2616aadbe3cb"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#a94f6aa37e7f45798308d2616aadbe3cb">pcl::gpu::people::PeopleDetector::getDeltaHueTolerance</a></div><div class="ttdeci">unsigned int getDeltaHueTolerance() const</div><div class="ttdoc">Get the tolerance for the delta on the Hue in Seeded Hue Segmentation step, defaults to 5</div><div class="ttdef"><b>Definition:</b> people_detector.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_people_detector_html_ac4561bd45bb9ed126ab7643787ec656a"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#ac4561bd45bb9ed126ab7643787ec656a">pcl::gpu::people::PeopleDetector::processProb</a></div><div class="ttdeci">int processProb()</div><div class="ttdoc">Process the depth based on probabilities supporting tracking, person specific files used</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_people_detector_html_adee5018e31e8f4a70631fb21fa66a68c"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#adee5018e31e8f4a70631fb21fa66a68c">pcl::gpu::people::PeopleDetector::setIntrinsics</a></div><div class="ttdeci">void setIntrinsics(float fx, float fy, float cx=-1, float cy=-1)</div><div class="ttdoc">User must set non standard intrinsics</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_people_detector_html_ae514fc69bdc44df8a81a8bb5770f10e8"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#ae514fc69bdc44df8a81a8bb5770f10e8">pcl::gpu::people::PeopleDetector::PeopleDetector</a></div><div class="ttdeci">PeopleDetector()</div><div class="ttdoc">Class constructor.</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1people_1_1_people_detector_html_ae6db8fc5b03dae73d9173406aacfa4cb"><div class="ttname"><a href="classpcl_1_1gpu_1_1people_1_1_people_detector.html#ae6db8fc5b03dae73d9173406aacfa4cb">pcl::gpu::people::PeopleDetector::~PeopleDetector</a></div><div class="ttdeci">~PeopleDetector()</div><div class="ttdoc">Class destructor.</div><div class="ttdef"><b>Definition:</b> people_detector.h:93</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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